CN115065409A - Visible light indoor communication and positioning integrated system based on wavelength division multiplexing - Google Patents

Visible light indoor communication and positioning integrated system based on wavelength division multiplexing Download PDF

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CN115065409A
CN115065409A CN202210471344.5A CN202210471344A CN115065409A CN 115065409 A CN115065409 A CN 115065409A CN 202210471344 A CN202210471344 A CN 202210471344A CN 115065409 A CN115065409 A CN 115065409A
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light
communication
light source
component
image
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CN115065409B (en
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张金成
李旭
邬佳杰
俞建杰
马才伟
高文元
梁正
胡传舟
刘姝仪
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Huzhou Institute of Zhejiang University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
    • H04B10/114—Indoor or close-range type systems
    • H04B10/116—Visible light communication
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/50—Transmitters
    • H04B10/516—Details of coding or modulation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J14/00—Optical multiplex systems
    • H04J14/02—Wavelength-division multiplex systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Communication System (AREA)

Abstract

The invention discloses a visible light indoor communication and positioning integrated system based on wavelength division multiplexing, which comprises a transmitting end and a receiving end, wherein a light source component is integrated in the transmitting end, and a communication receiving component, an image information acquisition component, an image control and processing component and a master control processing component are integrated in the receiving end; the light source module modulates the light source ID information in the red light part and modulates the communication data in the blue-green light part; the communication receiving component converts, demodulates and identifies the blue-green light; the image information acquisition component is used for shooting a light spot image of the red light component of the light source component; the image control and processing component is used for separating light and shade stripes from the light spot image; the master control processing assembly is used for obtaining the light source ID and the real-time position thereof by identifying the light and dark stripes; meanwhile, the master control processing module also processes and forwards the communication data. By adopting the system, indoor positioning and communication can be simultaneously realized based on the LED lamp, and multiple utilization of indoor light information is realized.

Description

Visible light indoor communication and positioning integrated system based on wavelength division multiplexing
Technical Field
The invention relates to the field of optical communication, in particular to a visible light indoor positioning system based on wavelength division multiplexing, a visible light communication system and a special light source based on the visible light indoor positioning system.
Background
With the development of society, the real-time positioning technology plays an important role in daily life, industrial production and scientific research. Based on the implementation mechanism of the global navigation system, if the position of a target needs to be determined, the target needs to be in direct communication with different satellites, which can be realized in the open outdoor environment. In the indoor environment, due to the blocking of obstacles and the interference between signals, the strength and the quality of satellite signals are reduced, and the requirement of positioning cannot be met. The indoor positioning method based on the Ultra Wideband (UWB) technology needs to erect additional base stations in the indoor environment, so that the deployment investment is large, the maintenance cost is high, and the requirement on the deployment environment is high.
Aiming at the problems of low precision and high deployment cost of the existing indoor positioning technology, few current solutions are available. Visible Light Communication (VLC) technology using light devices such as Light Emitting Diodes (LEDs) is available in the field of indoor communication and positioning in heterogeneous wireless networks that may cooperate with Radio Frequency (RF) wireless networks. The problem of limited system bandwidth exists in a single visible light indoor communication system, and the transmission rate of the communication system is influenced; the problem of low system positioning identification area degree exists in the indoor positioning system utilizing single visible light, positioning stability is reduced, system deployment cost is increased, and indoor positioning and communication of visible light cannot be simultaneously carried out by utilizing single visible light.
Disclosure of Invention
The invention mainly aims to provide a visible light indoor communication and positioning integrated system based on wavelength division multiplexing, and aims to solve the problems that an indoor visible light communication system in the prior art is low in communication speed, an indoor visible light positioning system is poor in positioning stability and high in cost, and a visible light-based communication and positioning system cannot be deployed at the same time.
In order to achieve the purpose, the invention provides the following technical scheme:
the visible light indoor communication and positioning integrated system based on wavelength division multiplexing comprises a transmitting end and a receiving end, wherein a light source component is integrated in the transmitting end, and a communication receiving component, an image information acquisition component, an image control and processing component and a master control processing component are integrated in the receiving end;
the light source assembly has the light emitting capability of three colors of red, blue and green, the light source ID is modulated on the red light part, and the communication data transmitted by the light source is modulated on the blue-green light part;
the communication receiving assembly converts, demodulates and identifies communication data carried by the blue-green light component of the light source assembly;
the image information acquisition component is used for shooting a light spot image containing the red light component of the light source component;
the image control and processing component is used for separating light and shade stripes from the light spot image;
the master control processing assembly obtains a light source ID by identifying the light and shade stripes and obtains a real-time position corresponding to the light source assembly by searching a comparison database; meanwhile, the master control processing module also processes and forwards the communication data of the communication receiving assembly.
Preferably, the light source assembly comprises a power supply module, a control module, a modulation module, an LED driving circuit and an RGB LED; the power supply module supplies power to all power utilization units in the light source assembly, the control module is electrically connected with the modulation module, the modulation module is electrically connected with the LED drive circuit, and the LED drive circuit is electrically connected with the RGB LED;
the control module stores and encodes the input communication data and the light source ID through the Ethernet interface and transmits the data and the light source ID to the modulation module; the modulation module converts the communication coding information and the ID coding information into a two-way voltage modulation signal and sends the two-way voltage modulation signal to the LED driving circuit; the LED driving circuit comprises a red LED driving circuit and a blue-green LED driving circuit, the red LED driving circuit converts the ID voltage modulation signal into an ID current pulse signal, the blue-green LED driving circuit converts the communication voltage modulation signal into a communication current pulse signal, and the two current pulse signals are sent to the RGB LED; the RGB LED sends out light pulse signals, wherein the red LED receives the ID current pulse signals and emits light, and the blue LED and the green LED receive the communication current pulse signals and emit light.
Preferably, the communication receiving component comprises a blue-green waveband optical filter, a PIN photodiode, a transimpedance amplifier, an equalizer and a clock recovery circuit, wherein the blue-green waveband optical filter is arranged at the foremost end of the communication receiving module;
the blue-green wave band filter collects blue-green spectrum signals in the environment into the communication receiving assembly and filters stray light of other wave bands; the PIN photodiode converts the blue-green spectrum signal into a communication current pulse signal; the trans-impedance amplifier converts the communication current pulse signal into a communication voltage signal; the equalizer receives and reduces the jitter of the communication voltage signal; the clock recovery circuit extracts a clock from the processed communication voltage signal to complete the generation of the digital signal.
Preferably, the image information acquisition assembly comprises a red light filter, a CMOS image sensor and a driving circuit thereof, the red light filter is installed at the foremost end of the image information acquisition assembly, the exposure mode of the CMOS image sensor is a rolling shutter, and the opening and closing rate of the rolling shutter is greater than the sensor frame rate.
Preferably, the image control and processing assembly comprises an FPGA control core with a GPU, a storage unit; the FPGA control core stores the light spot image in a storage unit, and calculates the centroid position of the light spots in the light spot image, the number of light and dark stripes of each light spot and the relative position of the light and dark stripes of each light spot through an image recognition algorithm.
Preferably, the master control processing component comprises an ARM control core, a gyroscope, an accelerometer and an analysis and query unit, wherein the gyroscope, the accelerometer and the analysis and query unit are electrically connected with the ARM control core;
the ARM control core forwards communication data through the Ethernet port and provides data support for the analysis and query unit; the gyroscope and the accelerometer acquire current attitude information and motion information of a receiving end; the analysis and query unit acquires the distribution and the quantity of the light and dark stripes through an ARM control core, and obtains light source IDs corresponding to the light and dark stripes through searching a database; the analysis and query unit also acquires attitude and motion information through an ARM control core, and obtains the relative position of the receiving end through coordinate calculation to realize positioning.
In summary, the visible light indoor communication and positioning integrated system of the present invention has the following advantages: 1) compared with an indoor positioning system utilizing single visible light, the infrared light transmits the light source ID and the blue-green light transmits communication data based on the wavelength division multiplexing technology of the visible light, so that the indoor positioning and communication of the visible light are realized simultaneously, the multiple utilization of indoor light information is realized, and the utilization value of the indoor visible light is widened; 2) the target positioning precision is high, the communication anti-interference capability is strong, and the problem that the visible light positioning and the communication are mutually influenced is solved; 3) target positioning does not need to erect an independent base station, so that the investment is low, and the requirement on deployment environment is low; 4) the visible light communication and positioning technology has the advantages of low price, easiness in arrangement, rapidness in transmission, environmental friendliness, high safety, long service life and the like, and has huge potential in future indoor environment deployment.
Drawings
FIG. 1 is a schematic view of the main structure of the present invention;
FIG. 2 is a scanning schematic diagram of a rolling shutter of a CMOS camera according to the present invention;
FIG. 3 is a schematic diagram of exposure imaging of a CMOS camera according to the present invention;
FIG. 4 is a schematic diagram of imaging positioning in accordance with the present invention;
FIG. 5 is a schematic view of LED-ID encoding according to the present invention;
FIG. 6 is a diagram of an internal embodiment of a light source according to the present invention;
FIG. 7 is a schematic diagram of positioning at a receiving end according to the present invention;
FIG. 8 is a diagram of the process of extracting LED lamps from a light spot image according to the present invention;
FIG. 9 is a diagram of the process of extracting light and dark stripes from a light spot image according to the present invention;
FIG. 10 is an algorithm diagram of the LED lamp and light and dark stripe extraction process of the present invention;
fig. 11 is a diagram illustrating a positioning receiving end using a mobile phone as a carrier according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
As shown in fig. 1, the system includes a transmitting end (also called a lamp side) and a receiving end (also called a user side, that is, an indoor positioning device based on visible light in actual use), wherein a light source assembly is integrated in the transmitting end, and a communication receiving assembly, an image information collecting assembly, an image control and processing assembly, and a general control processing assembly are integrated in the receiving end. The sending end sends information in a wavelength division multiplexing mode based on the three-color LED lamp beads; the receiving end uses a PIN photodiode to carry out communication receiving, and uses a CMOS image sensor to realize positioning.
The alternating bright and dark fringes are derived from the rolling shutter effect of a CMOS camera, the principle of which is shown in fig. 2. Since the time interval t _ row of progressive scanning is very small (us order), the exposure time t _ expo used for ordinary photographing is as long as several tens of ms, which is much longer than t _ row. Therefore, the rolling shutter effect cannot be perceived by photographing at ordinary times. The rolling shutter effect occurs only when t _ pop and t _ row are close enough and the captured image changes at high speed.
If a square wave signal of a specific frequency is modulated on the LED lamp and the exposure time of the CMOS image sensor is adjusted to be short enough, it may happen that the lamp is turned on when scanning the first few lines, turned off when scanning the next few lines, and turned on immediately after, and this process continues until each photo cell in each line of the image sensor is exposed. The image of the LED lamp in the image will present bright spots different from that seen by human eyes, but stripes with alternate light and dark, and the detailed process is shown in fig. 3. These bright and dark fringes are used to back-out the sequence of waveforms modulated on the LED. Each LED lamp modulates a different signal, i.e. each LED lamp has a unique light source ID. This allows the determination of which lamp is by CMOS imaging detection. And the information (mainly position coordinate information) of the LED lamp is stored in a database in advance, and the information of the LED lamp in the database is inquired and compared to perform positioning calculation by using the detected light source ID.
The goal of the triangulation method is to estimate the position of the receiving device based on the attitude of the receiving device (including heading, pitch and roll angles). The principle of calculating the position is as follows, and the geometric relationship of the positioning imaging is as shown in fig. 4.
The positioning algorithm adopts the AOA (angle of arrival) positioning principle. Different incident angles of the lamps are different, and imaging positions are also different, so that the following relations are satisfied:
Figure BDA0003622554230000041
wherein u, v are position coordinates on image plane coordinates, x c ,y c ,z c For the position of the LED lamp in the coordinate system of the receiving device, Z f Is the distance of the lens from the imaging plane.
In the case of multiple lamps, assuming a transformation matrix R that can transform the receiving device coordinate system to the local geographical coordinate system, the following relationship is obtained:
Figure BDA0003622554230000042
where x, y, z are the receiving devices we want to estimateThe position of (a); x is the number of Li ，y Li ，z Li The location of the ith lamp (which may be measured a priori, stored in a database, and retrieved by a query, assumed to be known).
The LED-ID coding structure is shown in FIG. 5. The complete light source ID is segmented and each segment (Block) is short enough to ensure that at a longer distance, the stripes in the image also contain at least one Block. The ID consists of N blocks, each Block containing a header, Block sequence number, data, and a trailer. The tail information is encoded by Manchester, namely 01 is used for representing 1, and 10 is used for representing 0, so that the number of 0 and 1 in the ID can be ensured to be the same.
Fig. 6 shows a physical diagram of an internal structure of the LED light source. The LED lamp is cylindrical, 4 RGB LED lamp beads are welded on an LED substrate in the LED lamp, the rated current of the lamp beads is between 300 and 400mA, the rated voltage is 5V, and the modulation frequency can reach more than 10 kHz. In addition, the color mixing degree of the lamp can be realized by changing the voltage of the RGB three-way input.
The positioning principle of the receiving end is shown in fig. 7. The receiving end firstly obtains a gray image (namely a light spot image) with a light source, then obtains light and dark alternate stripes in the image, obtains identity information (namely a light source ID) of the light source by identifying the light and dark alternate stripes, compares the identity information with the lamp position in the three-dimensional information database of the positioning area, and obtains the current position of the receiving end by combining inertia information of the receiving end. The following is a detailed description:
a CMOS image sensor is used at a receiving end, and one picture can be shot at intervals, so that the light source ID of the LED and the position and the size of the LED in the image can be detected. Before the image is acquired, the parameters of the CMOS image sensor, such as exposure time, ISO and the like, need to be adjusted to proper values. The manner of obtaining the position and size of the LED lamp is shown in fig. 8, and includes blurring, adaptive thresholding, extracting boundaries, and fitting boundaries. The manner of obtaining the light source ID of the LED lamp is shown in fig. 9, and includes blurring, adaptive thresholding, extracting a boundary, and fitting a boundary. The algorithm principle of the two-process image information extraction is shown in fig. 10.
Through a direction database used by the system, after the mobile equipment receives the light source identity information transmitted by the LED lamp, the position information of the mobile equipment is obtained by comparing the information with the database information; the mobile device location is then displayed on the map on the display of the mobile device, as shown in FIG. 11.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (6)

1. The visible light indoor communication and positioning integrated system based on wavelength division multiplexing is characterized by comprising a transmitting end and a receiving end, wherein a light source component is integrated in the transmitting end, and a communication receiving component, an image information acquisition component, an image control and processing component and a master control processing component are integrated in the receiving end;
the light source assembly has the light emitting capability of three colors of red, blue and green, the light source ID is modulated on the red light part, and the communication data transmitted by the light source is modulated on the blue-green light part;
the communication receiving assembly converts, demodulates and identifies communication data carried by the blue-green light component of the light source assembly;
the image information acquisition component is used for shooting a light spot image containing the red light component of the light source component;
the image control and processing component is used for separating light and shade stripes from the light spot image;
the master control processing assembly obtains a light source ID by identifying the light and shade stripes and obtains a real-time position corresponding to the light source assembly by searching a comparison database; meanwhile, the master control processing module also processes and forwards the communication data of the communication receiving assembly.
2. The integrated indoor communication and positioning system according to claim 1, wherein the light source assembly comprises a power module, a control module, a modulation module, an LED driving circuit and an RGB LED; the power supply module supplies power to all power utilization units in the light source assembly, the control module is electrically connected with the modulation module, the modulation module is electrically connected with the LED drive circuit, and the LED drive circuit is electrically connected with the RGB LED;
the control module stores and encodes the input communication data and the light source ID through the Ethernet interface and transmits the data and the light source ID to the modulation module; the modulation module converts the communication coding information and the ID coding information into a two-way voltage modulation signal and sends the two-way voltage modulation signal to the LED driving circuit; the LED driving circuit comprises a red LED driving circuit and a blue-green LED driving circuit, the red LED driving circuit converts the ID voltage modulation signal into an ID current pulse signal, the blue-green LED driving circuit converts the communication voltage modulation signal into a communication current pulse signal, and the two current pulse signals are sent to the RGB LED; the RGB LED sends out light pulse signals, wherein the red LED receives the ID current pulse signals and emits light, and the blue LED and the green LED receive the communication current pulse signals and emit light.
3. The indoor communication and positioning integrated system according to claim 1, wherein the communication receiving component comprises a blue-green band filter, a PIN photodiode, a transimpedance amplifier, an equalizer and a clock recovery circuit, the blue-green band filter is mounted at the foremost end of the communication receiving module, the PIN photodiode is electrically connected with the transimpedance amplifier, the transimpedance amplifier is electrically connected with the equalizer, and the equalizer is electrically connected with the clock recovery circuit;
the blue-green wave band filter collects blue-green spectrum signals in the environment into the communication receiving assembly and filters stray light of other wave bands; the PIN photodiode converts the blue-green spectrum signal into a communication current pulse signal; the trans-impedance amplifier converts the communication current pulse signal into a communication voltage signal; the equalizer receives and reduces the jitter of the communication voltage signal; the clock recovery circuit extracts a clock from the processed communication voltage signal to complete the generation of the digital signal.
4. The integrated indoor communication and positioning system according to claim 1, wherein the image information collecting module comprises a red light filter, a CMOS image sensor and a driving circuit thereof, the red light filter is installed at the foremost end of the image information collecting module, the CMOS image sensor is exposed in a rolling shutter manner, and the opening/closing rate of the rolling shutter is greater than the sensor frame rate.
5. The integrated indoor communication and positioning system according to claim 1, wherein the image control and processing component comprises an FPGA control core with a GPU, a memory unit; the FPGA control core stores the light spot image in a storage unit, and calculates the centroid position of the light spots in the light spot image, the number of light and dark stripes of each light spot and the relative position of the light and dark stripes of each light spot through an image recognition algorithm.
6. The indoor communication and positioning integrated system as claimed in claim 1, wherein the general control processing assembly comprises an ARM control core, a gyroscope and accelerometer, and an analysis and query unit, the gyroscope and accelerometer, and the analysis and query unit are electrically connected to the ARM control core;
the ARM control core forwards communication data through the Ethernet port and provides data support for the analysis and query unit; the gyroscope and the accelerometer acquire current attitude information and motion information of a receiving end; the analysis and query unit acquires the distribution and the quantity of the light and dark stripes through an ARM control core, and obtains light source IDs corresponding to the light and dark stripes through searching a database; the analysis and query unit also acquires attitude and motion information through an ARM control core, and obtains the relative position of the receiving end through coordinate calculation to realize positioning.
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